Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Pose1
        - /Pose2
      Splitter Ratio: 0.5
    Tree Height: 478
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: LaserScan
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        base_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        front_cam_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        front_cam_optical_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        laser0_frame:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        sonar_link:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Alpha: 0.7
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 2
        Min Value: 0
        Value: false
      Axis: Z
      Channel Name: intensity
      Class: rviz/LaserScan
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 0
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.01
      Style: Points
      Topic: /scan
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Camera
      Enabled: true
      Image Rendering: background and overlay
      Image Topic: /front_cam/camera/image
      Name: Camera
      Overlay Alpha: 0.5
      Queue Size: 2
      Transport Hint: raw
      Value: true
      Visibility:
        Grid: false
        LaserScan: false
        Map: false
        Path: true
        Pose: true
        RobotModel: false
        Value: true
      Zoom Factor: 1
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 170; 0; 0
      Enabled: true
      Line Style: Lines
      Line Width: 0.03
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Topic: /trajectory
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.3
      Head Radius: 0.1
      Name: Pose
      Shaft Length: 1
      Shaft Radius: 0.05
      Shape: Axes
      Topic: /pose
      Value: true
    - Alpha: 1
      Axes Length: 0.5
      Axes Radius: 0.1
      Class: rviz/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.3
      Head Radius: 0.1
      Name: Pose
      Shaft Length: 1
      Shaft Radius: 0.05
      Shape: Axes
      Topic: /pose_gt
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: world
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 12.4519
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 1.65759
        Y: -1.70336
        Z: -0.589262
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.530399
      Target Frame: base_stabilized
      Value: Orbit (rviz)
      Yaw: 3.21541
    Saved: ~
Window Geometry:
  Camera:
    collapsed: false
  Displays:
    collapsed: false
  Height: 1026
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000012e00000378fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000026d000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000029b000001050000001600fffffffb0000000a0049006d00610067006501000002d9000000c70000000000000000000000010000010f0000035ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000410000035f000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000065f0000003efc0100000002fb0000000800540069006d006501000000000000065f000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000052b0000037800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1631
  X: 55
  Y: 14